Endoscope for diagnostic investigations usable in a magnetically guided endoscope movement control system

Abstract

The invention relates to an endoscope (100) usable in a magnetically guided endoscope movement and localization control system, to carry out a diagnostic assessment on a patient. The endoscope comprises: - a body (1) extending along a longitudinal axis (X) and having a first body end (1') and a second body end (1'') opposite to each other; - a tubular cover element (9) of the body of the endoscope; - a first magnetic element (11) housed in the tubular cover element to be coaxial with said longitudinal axis; the first magnetic element has a first body (11') having a first volume (V1) and is delimited along the longitudinal axis by a first base surface (F11) and by an opposite second base surface (F12) parallel to each other, the first and second base surfaces being representative of a magnetic south pole (S) and a magnetic north pole (N) of the first magnetic element, respectively; the endoscope is characterized in that it comprises, at least a second magnetic element (110) separated from the first magnetic element, said at least a second magnetic element having a second body (110') having a second volume (V2) smaller than the first volume of the first magnetic element, and being delimited by a first base surface of second body (F21) and by an opposite second base surface of second body (F22) connected to each other by a connection surface (SC), the first and the second base surfaces of second body being representative of a magnetic south pole and a magnetic north pole of the second magnetic element, respectively, the first base surface of second body of the second magnetic element faces the first base surface of the first magnetic element, remaining spaced apart from the first base surface, the first and the at least a second magnetic element are configured to generate an overall magnetic field (B) the vector components (Bx, By, Bz) of which have a modulus which takes a minimum value (Bxmin1, Bymin1, Bzmin1) in at least one point of a first region (R1) of the space outside the first and the at least a second magnetic element, said first region being proximal to the second base surface of second body of the at least a second magnetic element.

Description

[0001] ENDOSCOPE FOR DIAGNOSTIC INVESTIGATIONS USABLE IN A

[0002] MAGNETICALLY GUIDED ENDOSCOPE MOVEMENT CONTROL SYSTEM

[0003] DESCRIPTION

[0004] TECHNICAL BACKGROUND OF THE INVENTION

[0005] Field of application

[0006] The present invention relates to endoscopic systems usable to carry out a diagnostic imaging assessment on a patient , in which an endoscope or capsule is magnetically located and moved . In particular, the invention relates to an innovative endoscope for diagnostic investigations usable in a magnetically guided endoscope movement control system.

[0007] Prior art

[0008] In the field of endoscopic systems , it is generally known to manipulate or magnetically move an endoscope or endoscopic capsule during a diagnostic assessment on a patient . However, only a few endoscopic systems also allow the endoscope to be magnetically located, in addition to being manipulated, since the function of magnetic locali zation of the endoscope is less common .

[0009] Patent document US 11122965B2 describes a magnetically driven endoscopic system, that is , a context in which the endoscope itsel f is magnetically manipulated, which also provides a solution for magnetically locating the endoscope . The endoscopic system comprises an endoscopic capsule and a system configured to generate a magnetic field which may comprise , for example , a robotic arm and a permanent magnet , or an electromagnet , fixed or mounted on a movement system . Such endoscopic capsule incorporates an internal permanent magnet ( IPM) and proprioceptive sensors to allow locali zation, in particular Hal l ef fect magnetic field sensors .

[0010] Such system is configured to calculate , in real time , the position and orientation of the endoscopic capsule using the data provided by the sensors . In particular, such endoscopic capsule comprises six uniaxial Hall ef fect sensors positioned, inside the endoscopic capsule , in a suitable way with respect to the aforesaid internal permanent magnet . As known, the magnetic field generated by the internal permanent magnet of the endoscope is distributed in the space around the magnet itsel f . At each point of the space outside the magnet , the magnetic field vector has three components , along the three axes X, Y and Z of an orthogonal Cartesian reference system . It should be noted that there is no point in the space outside the magnet in which all three components of the magnetic field vector generated by the magnet have a negligible modulus value .

[0011] For this reason, the solution proposed in document US 11122965B2 provides for positioning each uniaxial sensor at a respective speci fic point proximal to the internal permanent magnet of the endoscope , in particular at the points in which the speci fic axis of the sensor is oriented in the same direction and sense as one of the components of the magnetic field generated by the permanent magnet having a minimum modulus value , preferably close to zero .

[0012] This arrangement prevents the detection of the magnetic field performed by each Hall ef fect sensor of the endoscopic capsule from being saturated and, consequently, makes it possible to detect the magnetic field generated by the magnetic sources external to the endoscopic capsule itsel f , that is , the permanent magnet or permanent magnets , or the electromagnets , associated with the robotic arm of the system, which represents a requirement for the implementation of the aforesaid functionality of magnetic locali zation of the endoscope .

[0013] Although ef fective , the solution of the magnetically manipulated and locali zed endoscopic capsule described in US 11122965B2 has some limitations .

[0014] In fact , such known solution requires that the six Hall ef fect magnetic field sensors , of which at least three are uniaxial , be accurately positioned inside the endoscopic capsule , at predetermined points with respect to the internal permanent magnet , in order to minimi ze the magnetic field deviation (bias ) detected by each of them . Therefore , the assembly phase of the components of the endoscope is complex .

[0015] Moreover, the uniaxial sensors , having dimensions compatible with the endoscopes used to carry out a diagnostic assessment on a patient , are of the analog type . The use of such analog sensors requires the use of an Analog to Digital Converter (ADC ) on board the endoscopic capsule itsel f , to convert into digital the position data detected by the sensors . However, an analog to digital converter, in addition to being expensive and power consuming, requires additional space to be housed ins ide the endoscopic capsule . This is in contrast with the opposite need for miniaturi zation of the endoscopic capsule .

[0016] In addition, the arrangement of the six Hall ef fect sensors requires that at least two of them be positioned on the sides of the internal permanent magnet of the endoscope . This arrangement requires a signi ficant increase in the diameter of the endoscopic capsule itsel f , which in the field of endoscopy for diagnostic assessments represents a signi ficant reduction in performance , since it conflicts with the above-mentioned need for miniaturi zation of the capsule itsel f .

[0017] As far as known to the Applicant , at present there does not exist an endoscope usable in a magnetically guided endoscope movement and locali zation control system for diagnostic assessments which has small dimensions and is of simple assembly, and at the same time substantially maintains unaltered the functionalities of being able to be magnetically moved and locali zed through the control system .

[0018] SUMMARY OF THE INVENTION

[0019] The purpose of the present invention is , therefore , to provide an endoscope for diagnostic assessments on patients , usable in a magnetically guided endoscope movement and locali zation control system, which makes it possible to overcome , at least partially, the limits and drawbacks of known endoscopes used for the same purposes .

[0020] A particular purpose of the invention is to make available an endoscope which, while substantially maintaining unaltered the functionalities of being able to be magnetically moved and locali zed through the aforesaid magnetically guided control system, has small dimensions and is of simple assembly.

[0021] This purpose is achieved by means of an endoscope usable in a magnetically guided endoscope movement and localization control system, to carry out a diagnostic assessment on a patient, in accordance with claim 1.

[0022] In particular, such endoscope comprises: a body (1) extending along a longitudinal axis (X) and having a first body end (1' ) and a second body end (1'' ) opposite to the first end (1' ) ; a tubular cover element (9) of the body (1) of the endoscope (100) ; a first magnetic element (11) housed in said tubular cover element (9) to be coaxial with the longitudinal axis (X) , the first magnetic element (11) having a first body, for example cylindrical, (11' ) having a first volume (VI) and being delimited along the longitudinal axis (X) by a first base surface (Fll) and by an opposite second base surface (F12) parallel to each other, the first (Fll) and second (F12) base surfaces being representative of a magnetic south pole (S) and a magnetic north pole (N) of the first magnetic element (11) , respectively; the endoscope is characterized in that it comprises, at least a second magnetic element (110) separated from the first magnetic element (11) and, for example, housed in the tubular cover element (9) of the body (1) of the endoscope (100) , said at least a second magnetic element (110) having a second body, for example cylindrical, (110' ) having a second volume (V2) smaller than the first volume (VI) of the first magnetic element (11) and being delimited by a first base surface of second body (F21) and by an opposite second base surface of second body (F22) connected to each other by a connection surface (SC) , the first (F21) and the second (F22) base surfaces of second body being representative of a magnetic south pole (S) and a magnetic north pole (N) of said second magnetic element (110) , respectively, the first base surface of second body (F21) of the second magnetic element (110) faces the first base surface (Fll) of the first magnetic element (11) , remaining spaced apart from said first base surface (Fll) , the first (11) and the at least a second magnetic element (110) are configured to generate an overall magnetic field (B) the vector components (Bx, By, Bz) of which have a modulus which takes a minimum value (Bxminl, Bymini, Bzminl) in at least one point of a first region (Rl) of the space outside the first (11) and the at least a second magnetic element (110) ; said first region (Rl) being proximal to the second base surface of second body ( F22 ) of the second magnetic element ( 110 ) .

[0023] Preferred and advantageous embodiments of such endoscope are the subj ect of the dependent claims .

[0024] BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Further features and advantages of the endoscope of the invention will result from the description below of preferred embodiments , given by way of non-limiting example , with reference to the annexed figures , in which : figure 1 illustrates , in perspective and exploded view, an endoscope in accordance with the present invention; figure 2 illustrates , in perspective and enlarged view, a tubular cover element of the endoscope of figure 1 ; figure 3 illustrates , in a perspective and enlarged view, a permanent internal magnet of the endoscope of figure 1 , which can be housed in the tubular cover element of figure 2 , and a printed circuit of the endoscope ; figure 4 illustrates a perspective , sectional and enlarged view of at least part of the endoscope of figure 1 in assembled configuration; figure 5 schematically illustrates a first magnetic element , for example cylindrical , internal to the endoscope of figure 1 , delimited by a first and by an opposite second base surface , operatively associated, in a first exemplary embodiment , with a second magnetic element internal to the endoscope , in which said second magnetic element is adj acent to said first base surface ; figure 6 illustrates a graph representing the magnetic field generated by the first and the second magnetic element of the example of figure 5 at the internal points of said magnetic elements and in the space surrounding said magnetic elements ; figure 7 illustrates , in enlarged view, a portion of graph of the magnetic field of figure 5 in which the second magnetic element internal to the endoscope is adj acent to the first base surface of the first magnetic element ; figure 8 illustrates a graph representing the magnetic field generated by a first magnetic element internal to the endoscope , for example a cylindrical permanent magnet , operatively associated, in a second embodiment , with four second permanent magnets of the endoscope , in which a first pair of second permanent magnets is adj acent to a first base surface of the first permanent magnet and a second pair of said second permanent magnets is adj acent to a second base surface of the first permanent magnet , the first and the second pair of second magnets being arranged symmetrically with respect to an axis orthogonal to a main development axis of the first permanent magnet ; figure 9 illustrates a graph representing the magnetic field generated by a first magnetic element internal to the endoscope , for example a cylindrical permanent magnet , operatively associated, in a third embodiment , with two second permanent magnets of the endoscope , placed symmetrically with respect to an axis orthogonal to a main development axis of the first permanent magnet , in which one of said second permanent magnets is adj acent to a first base surface of the first permanent magnet and the other of said second permanent magnets is adj acent to a second base surface of the first permanent magnet .

[0026] In the aforesaid figures , identical or similar elements are denoted by the same reference numerals .

[0027] DETAILED DESCRIPTION

[0028] With reference to figures 1 , 2 , 3 and 4 an endoscope or endoscopic capsule in accordance with the present invention is , overall , indicated by reference numeral 100 .

[0029] Such endoscope 100 is usable in a magnetically guided endoscope movement and locali zation control system to carry out a diagnostic imaging assessment on a patient . Such control system comprises , exemplarily but not limited to : a robotic arm having a basal end connected to a robotic arm base and a distal robotic arm end which can be moved; a permanent magnet or an electromagnet connected to said distal robotic arm end; an endoscopic capsule or endoscope 100 in accordance with the present invention .

[0030] The endoscope 100 can be inserted, for example , inside the gastrointestinal tract of the patient to carry out said diagnostic assessment . Such endoscope 100 is advantageously also usable to carry out a therapeutic endoscopic procedure on a patient .

[0031] The endoscope 100 comprises a body 1 extending along a longitudinal axis X and having a first body end 1 ' and a second body end 1 ' ' or head of the endoscope 100 opposite to said first end 1 ' .

[0032] The endoscope 100 comprises at least one lighting unit 3 associated with the second body end 1 ' ' , in assembled configuration, to illuminate a lumen of a patient , that is , a cavity anatomically delimited by the set of tissues constituting a hollow organ of a patient . For example, said lighting unit 3 is implemented as one or more Light Emitting Diodes (LEDs ) .

[0033] The endoscope 100 further comprises an image sensor 4 associated with the second body end 1 ' ' , in assembled configuration, to capture images inside the illuminated lumen of the patient . For example , said image sensor is implemented as a camera comprising a solid-state sensor .

[0034] It should be noted that the first body end 1 ' of the endoscope 100 can be connected to an elongated flexible tube (not shown in the figures ) . The endoscope 100 comprises two or more operating channels extending through the elongated flexible tube and through said body 1 and terminating at the second body end 1 ' ' of the endoscope , that is , opening out from the head 1 ' ' of the endoscope .

[0035] With reference to figure 1 , the body 1 of the endoscope 100 comprises a core element 8 arranged axially inside said body 1 between the first body end 1 ' , connectable to the elongated flexible tube, and the second body end 1 ' ' of the body .

[0036] Said core element 8 includes a stem 8 ' comprising first channel portions of the above-mentioned two or more operating channels connected, in the example of the figure, to each other in one piece along the longitudinal axis X .

[0037] In addition, the core element 8 of the body 1 of the endoscope 100 comprises a fitting 80 , for example of truncated-cone shape , connected to the stem 8 ' . Said fitting 80 has a first base 81 and an opposite second base 82 , connected to each other by a fitting surface S . The fitting 80 is configured to connect the core element 8 with the elongated flexible tube of the endoscope .

[0038] With reference to the embodiment of figures 1-2 , the body 1 of the endoscope 100 comprises a first cover element 9 of the body 1 of tubular shape, for example made of insulating material .

[0039] In particular, said first tubular cover element 9 comprises a tubular body 91 closed, at a first end 92 , by a bottom wall 93 facing the above-mentioned fitting 80 of the core element 8 , that is , facing the first body end 1 ' . Said bottom wall 93 comprises a through hole 94 . As shown in detail in figure 2 , the through hole 94 made in the bottom wall 93 of the tubular cover element 9 is configured to comprise a first hole portion 94 ' for the insertion of the stem 8 ' of the core element 8 , and a second hole portion 94 ' ’ shaped, for example, as a U, adapted to delimit a compartment for housing a second magnetic element of the endoscope 100 as will be clarified below .

[0040] In addition, the body 1 of the endoscope 100 comprises an electronic printed circuit 10 ( Printed Circuit Board or PCB) , in particular flexible , having a straight portion 10 ' , parallel to said longitudinal axis X of the endoscope, and having ends connected, respectively, to a first 10a and to a second 10b printed circuit portion of discoidal shape, foldable with respect to the straight portion 10 ' .

[0041] In addition, as shown in figure 1 , the body 1 of the endoscope 100 comprises a second cover element 12 of the body 1 adapted to be fitted, at least partially, onto the first cover element 9. Said second cover element 12 , shaped as a cap, has a front portion 12 ' made, for example , of plastic material transparent to light radiation .

[0042] With reference to the embodiment of figures 1 and 4 , the at least one lighting unit 3 and the image sensor 4 , that is , the camera, are fixed to the second 10b foldable discoidal circuit portion of the printed electronic circuit 10 . In particular, they are fixed on the surface of said second 10b circuit portion 10 which faces the front portion 12 ' of the second cover element 12 , when said portion is folded .

[0043] In addition, the first 10a foldable discoidal circuit portion of the printed electronic circuit 10 comprises an electronic processing unit 40 electrically connected, for example by printed conductive tracks , to the at least one lighting unit 3 and to the image sensor 4 . Said electronic processing unit 40 , for example a Central Processing Unit (CPU) or a microcontroller, is configured to control the activation / deactivation of the LEDs of the lighting unit 3 and to enable the acquisition of images by the image sensor 4 .

[0044] In particular, said electronic processing unit 40 is fixed on the surface of the first 10a circuit portion of the printed circuit 10 .

[0045] It should be noted that said electronic processing unit 40 also advantageously comprises a magnetic field sensor 41 , for example of tri-axial type .

[0046] With reference to figures 1 and 3 , the body 1 of the endoscope 100 further comprises a first magnetic element 11 , or first magnetic field source, having a respective body 11 ' adapted to be interposed between the first 10a and the second 10b folded discoidal circuit portions of the printed electronic circuit 10 , to be inserted inside the first tubular cover element 9.

[0047] In a particular embodiment , said first magnetic element 11 is a first internal permanent magnet of the endoscope ( Internal Permanent Magnet or IPM) consisting, for example , of a cylinder 11 ' of ferromagnetic material provided with an axial channel I la parallel to the longitudinal axis X and coaxial with a first 101a and a second (not shown in the figures ) through hole of the flexible printed circuit 10. Said axial channel I la is configured to allow the cylinder 11 ' of ferromagnetic material to be fitted onto the stem 8 ' of the core element 8 . Said first magnetic element 11 has a first volume VI .

[0048] In a dif ferent embodiment, the first magnetic element 11 is implemented as an electromagnet, in particular consisting of a coil wound on a cylindrical ferromagnetic core .

[0049] In a further embodiment, the first magnetic element 11 is implemented as an assembly consisting of magnetic particles embedded in a polymer substrate .

[0050] With reference to figure 5, it should be noted that the first magnetic element 11 , for example a first permanent magnet , is housed in the tubular cover element 9 to be coaxial with the longitudinal axis X and is delimited along said longitudinal axis X by a first base surface Fl l and by an opposite second base surface F12 parallel to each other . Said first Fl l and second F12 base surfaces are representative of a magnetic south pole S and a magnetic north pole N of the first magnetic element 11 , respectively .

[0051] In addition, the body 1 of the endoscope 100 of the invention comprises at least a second magnetic element 110 , or second magnetic field source, having a respective second volume V2 smaller than the first volume VI of the first magnetic element 11 . For example , the aforesaid first volume VI is ten times greater than the second volume V2 .

[0052] Said at least a second magnetic element 110 is separated from the first magnetic element 11 and is housed, for example, in the first tubular cover element 9 of the body 1 of the endoscope 100 . Said at least a second magnetic element 110 has a respective second body, for example cylindrical , 110 ' delimited by a first base surface of second body F21 and by an opposite second base surface of second body F22 connected to each other by a connection surface SC .

[0053] The first F21 and the second F22 base surfaces of second body are representative of a magnetic south pole S and a magnetic north pole N of said second magnetic element 110 , respectively .

[0054] In addition, the first base surface of second body F21 of the at least a second magnetic element 110 faces the first base surface Fl l of the first magnetic element 11 , remaining spaced apart from said first base surface Fl l .

[0055] In one embodiment, the first body 11 ' of the first magnetic element 11 is cylindrical and / or the second body 110 ' of the at least a second magnetic element 110 is cylindrical .

[0056] It should be noted that the first 11 and the at least a second magnetic element 110 are configured to generate an overall magnetic field B the vector components Bx, By, Bz of which have a modulus which takes a minimum value Bxminl , Bymini , Bzminl in at least one point of a first region R1 of the space outside the first 11 and the at least a second magnetic element 110 proximal to the second base surface of second body F22 of the second magnetic element 110 .

[0057] With reference to the embodiment of figures 5 and 6, the Applicant has veri fied that the reciprocal position of the first 11 and the second 110 magnetic element makes it possible to generate , in the region R1 of the space proximal to the second base surface of second body F22 of the second permanent magnet 110 , one or more points of local minimum of the overall magnetic field B generated by the two magnets . In greater detail , said local minimum of the magnetic field is proximal to an edge of the base surface of second body F22 of the second magnetic element distal from the longitudinal axis X . Therefore , it is advantageous to position the tri-axial magnetic field sensor 41 so that it is proximal to said point of local minimum .

[0058] In a further embodiment, the first 11 and the at least a second magnetic element 110 are configured to generate said overall magnetic field B the vector components Bx, By, Bz of which have a modulus which takes a further minimum value Bxmin2 , Bymin2 , Bzmin2 in at least one point of a second region R2 of the space outside the first 11 and the at least a second magnetic element 110 interposed between the first base surface of second body F21 and said first base surface Fl l of the first magnetic element .

[0059] In other words , with reference to figure 7 , the Applicant has verified that the presence of the second magnetic element 110 generates two local minima in proximity of both the base surfaces of second body F21 , F22 of the second magnetic element . Consequently, the tri-axial magnetic field sensor 41 can also be advantageously positioned between the second magnetic element 110 and the first magnetic element 11 .

[0060] In any case , the local minimum of the magnetic field B generated by the two magnetic elements 11 , 110 in proximity of the second surface F22 of the second magnetic element generally has a smaller modulus and is therefore more ef fective for the placement of the tri- axial sensor 41 .

[0061] In one embodiment of the endoscope 100 of the invention, the magnetic moment of the first magnetic element 11 is comprised within the range between 0 . 5 e 5 A*m2. In particular, the magnetic moment of the first magnetic element 11 is , for example, equal to 1 . 7 A*m2.

[0062] In a further embodiment, the magnetic moment of the at least a second magnetic element 110 is comprised between 5% and 50% of the magnetic moment of the above- mentioned first magnetic element 11 .

[0063] In a further embodiment , the area of first base surface of second body F22 of the at least a second magnetic element 110 is comprised between 5% and 100% of the area of the first base surface Fl l of the first magnetic element 11 .

[0064] According to the embodiment of figures 5- 6 , in the case in which the first magnetic element 11 and the at least a second magnetic element 110 are implemented as cylindrical permanent magnets , the first F21 and the second F22 base surfaces of second body of said second permanent magnet 110 are parallel to each other and also parallel to the first Fl l and second F12 base surfaces of the first permanent magnet 11 .

[0065] In particular, the cylindrical second permanent magnet 110 is coaxial to a further longitudinal axis XI distinct from and parallel to the longitudinal axis X of the body 1 of the endoscope 100 . The aforesaid longitudinal axis X and further longitudinal axis XI are included in the same plane of symmetry of the body 1 of the endoscope 100 .

[0066] It should be noted that the proposed solution provides that the first magnetic element 11 and the at least a second magnetic element 110 are positioned inside the endoscope 100 so as to have their magnetic axes along the same direction, but in opposite sense , for example magnetic south pole S of the first magnetic element 11 facing the magnetic south pole S of the second magnetic element 110 , as in figure 5, or alternatively magnetic north pole N of the first facing magnetic north pole N of the second .

[0067] Still with reference to the embodiment of figures 5- 6, a distance D between the first base surface of second body F21 of the second permanent magnet 110 and the first base surface Fl l of the first permanent magnet 11 is smaller than or equal to L / 5 , wherein L is the distance between the first Fl l and the second F12 base surfaces of the first permanent magnet 11 .

[0068] For example , if L = 10 mm, said distance D is less than or equal to 2 mm.

[0069] With reference to figures 2-3 , in the case in which the endoscope 100 comprises a single second magnetic element 110 , for example a second permanent magnet , the latter is configured to be housed in the compartment delimited by the second hole portion 94 ' ’ made in the bottom wall 93 of the tubular cover element 9 .

[0070] Following such arrangement, the second permanent magnet 110 is aligned and facing the tri-axial magnetic field sensor 41 fixed, for example glued, to the first 10a foldable discoidal circuit portion of the first printed electronic circuit 10 .

[0071] In a dif ferent embodiment, the second magnetic element 110 can also be an electromagnet . In a further embodiment, the second magnetic element 110 is implemented as an assembly consisting of magnetic particles embedded in a polymer substrate .

[0072] It should be noted that the relative position of the magnetic field sources , first 11 and at least second 110 magnetic element, is not univocal . A result similar to that described above can be obtained by positioning the secondary magnetic source in a plurality of positions .

[0073] With reference to the embodiment of figure 8 , the at least a second magnetic element 110 of the endoscope 100 comprises four mutually similar second magnetic elements 110a, 110b, 110c, l l Od, separated from the first magnetic element 11 and housed in the tubular cover element 9 of the body 1 of the endoscope 100 .

[0074] Each of said second magnetic elements 110a, 110b, 110c, l l Od has a second cylindrical body 110 ' having a second volume V2 smaller than the first volume VI of the first magnetic element 11 and is delimited by a first base surface of second body F21 and by an opposite second base surface of second body F22 connected to each other by a connection surface SC . Said first F21 and second F22 base surfaces of second body are representative of a magnetic south pole S and a magnetic north pole N of each of the second magnetic elements 110a, 110b, 110c, l l Od, respectively .

[0075] In addition, the first base surface of second body F21 of two 110a, 110b of the four second magnetic elements faces , respectively, opposite edge portions of the first base surface Fl l of the first magnetic element 11 distal from the longitudinal axis X, remaining spaced apart from the first base surface Fl l . The second base surface of second body F22 of the other two 110c, l l Od of the four second magnetic elements faces , respectively, opposite edge portions of the second base surface F12 of the first magnetic element 11 distal from the longitudinal axis X, remaining spaced apart from the second base surface F12 .

[0076] In particular, the first 11 and the four second magnetic elements 110a, 110b, 110c, l l Od are configured to generate a first overall magnetic field Bl the vector components Blx, Bly, Bi z of which have a modulus which takes a minimum value Blxmin, Blymin, Bl zmin in at least one point of a first Rl , of a second R2 , of a third R3 and of a fourth R4 region of the space outside the first 11 and the second magnetic elements 110a, 110b, 110c, l l Od . Said regions Rl , R2 , R3 , R4 are proximal to the second base surface of second body F22 of the second magnetic elements 110a, 110b, 110c, l l Od .

[0077] With reference to the embodiment of figure 9 , the at least a second magnetic element 110 of the endoscope 100 comprises two mutually similar second magnetic elements 110a, 110b, separated from the first magnetic element 11 and, for example , housed in the tubular cover element 9 of the body 1 of the endoscope 100 . Each of said second magnetic elements 110a, 110b has a second cylindrical body 110 ' having a second volume V2 smaller than the first volume VI of the first magnetic element 11 and is delimited by a first base surface of second body F21 and by an opposite second base surface of second body F22 connected to each other by a connection surface SC . The first F21 and the second F22 base surfaces of second body are representative of a magnetic south pole S and a magnetic north pole N of each of the second magnetic elements 110a, 110b, respectively .

[0078] In addition, the first base surface of second body F21 of one 110a of the two second magnetic elements faces the first base surface Fl l of the first magnetic element 11 , remaining spaced apart from the first base surface Fl l . The respective second base surface of second body F22 of the other 110b of the two second magnetic elements faces the second base surface F12 of the first magnetic element 11 , remaining spaced apart from the second base surface F12 .

[0079] In particular, the first 11 and the two second magnetic elements 110a, 110b are coaxial with each other along the longitudinal axis X and are configured to generate a second overall magnetic field B2 the vector components B2x, B2y, B2 z of which have a modulus which takes a minimum value B2xmin, B2ymin, B2 zmin in at least one point of a first R1 and of a further first Rl ' region, of a second R2 and of a further second R2 ' region of the space outside the first 11 and the second magnetic elements 110a, 110b . Said regions Rl , Rl ' , R2 , R2 ' are proximal to the edge portions of the second base surface of second body F22 of the second magnetic elements 110a, 110b distal from the longitudinal axis X .

[0080] In other words , as shown in the embodiments of figures 8 and 9, each secondary magnet generates one or more local minima of magnetic field . In addition, the placement of each secondary magnet is independent of the placement of the other magnets .

[0081] The endoscope 100 of the present invention has several advantages and achieves the intended purposes .

[0082] In fact , in the endoscope 100 of the present invention it is possible to generate a first region R1 of local minimum of magnetic field in which the magnetic field has minimum intensity, for example less than 500 gauss , on all Cartesian axes simultaneously . Therefore, in the case of a single second permanent magnet , the endoscope requires the use of a single tri-axial magnetic field sensor 41 , positioned at the first region R1 in which a local minimum of magnetic field is present . Therefore , the assembly phase of the components of the endoscope 100 is simple .

[0083] In addition, the endoscope 100 of the invention has small dimensions since the arrangement of said single tri-axial sensor 41 does not require an increase in the diameter of the endoscopic capsule itsel f . Said diameter does not increase even with the increase in the internal secondary magnetic field sources of the endoscope 100 , two or four second magnetic elements , as described in the embodiments of figures 8 and 9.

[0084] To the embodiments of the endoscope described above, a person skilled in the art, in order to meet contingent needs , may make modifications , adaptations and substitutions of elements with other functionally equivalent ones , without departing from the scope of the following claims . Each of the features described as belonging to a possible embodiment can be implemented independently of the other embodiments described .

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Claims

CLAIMS1. An endoscope (100) usable in a magnetically guided endoscope movement and location control system, for carrying out a diagnostic assessment on a patient, comprising : a body (1) extending along a longitudinal axis (X) and having a first body end (1' ) and a second body end (1'' ) opposite to said first end (1' ) ; a tubular cover element (9) of the body (1) of the endoscope (100) ; a first magnetic element (11) housed in said tubular cover element (9) to be coaxial with said longitudinal axis (X) , said first magnetic element (11) having a first body (11' ) having a first volume (VI) and being delimited along the longitudinal axis (X) by a first base surface (Fll) and by an opposite second base surface (F12) parallel to each other, said first (Fll) and second (F12) base surfaces being representative of a magnetic south pole (S) and a magnetic north pole (N) of the first magnetic element (11) , respectively, characterized in that it, further, comprises at least a second magnetic element (110) separated from the first magnetic element (11) , said at least a second magnetic element (110) having a second body (110' ) having a second volume (V2) smaller than the first volume (VI)of the first magnetic element (11) , and being delimited by a first base surface (F21) of second body and by an opposite second base surface (F22) of second body connected to each other by a connection surface (SC) , the first (F21) and second (F22) base surfaces of second body are representative of a magnetic south pole (S) and a magnetic north pole (N) of said second magnetic element (110) , respectively, the first base surface (F21) of second body of the second magnetic element (110) faces the first base surface (Fll) of the first magnetic element (11) , remaining spaced apart from said first base surface (Fll) , said first (11) and at least a second (110) magnetic elements are configured to generate an overall magnetic field (B) , the vector components (Bx, By, Bz) of which have a modulus which takes a minimum value (Bxminl, Bymini, Bzminl) in at least one point of a first region (Rl) of the space outside the first (11) and the at least a second (110) magnetic elements, said first region (Rl) being proximal to the second base surface (F22) of second body of the at least a second magnetic element (110) .

2. An endoscope (100) according to claim 1, wherein said first (11) and at least a second (110) magnetic elements are configured to generate said overall magnetic field (B) , the vector components (Bx, By, Bz) of which have amodulus which takes a further minimum value (Bxmin2, Bymin2, Bzmin2) in at least one point of a second region (R2) of the space outside the first (11) and the at least a second (110) magnetic elements, said second region (R2) being interposed between the first base surface (F21) of second body and said first base surface (Fll) .

3. An endoscope (100) according to claim 1 or 2, wherein the first body (11' ) of the first magnetic element (11) is cylindrical and / or the second body (110' ) of the at least a second magnetic element (110) is cylindrical.

4. An endoscope (100) according to any one of claims 1-3, wherein the magnetic moment of the at least a second magnetic element (110) is between 5% and 50% of the magnetic moment of the first magnetic element (11) .

5. An endoscope (100) according to any one of claims 1-4, wherein the area of said first base surface (F22) of second body of the at least a second magnetic element (110) is between 5% and 100% of the area of the first base surface (Fll) of the first magnetic element (11) .

6. An endoscope (100) according to any one of the preceding claims, wherein said first (F21) and second (F22) base surfaces of second body of the at least a second magnetic element (110) are parallel to each other and parallel to said first (Fll) and second (F12) base surfaces .

7. An endoscope (100) according to any one of the preceding claims, wherein said at least a second magnetic element (110) is cylindrical and is coaxial to a further longitudinal axis (XI) which is distinct from and parallel to said longitudinal axis (X) of the body (1) of the endoscope (100) , said longitudinal axis (X) and further longitudinal axis (XI) being included in the same plane of symmetry of the body (1) of the endoscope.

8. An endoscope (100) according to any one of claims 6 or 7, wherein a distance (D) between the first base surface (F21) of second body of the at least a second magnetic element (110) and the first base surface (Fll) of the first magnetic element (11) is less than or equal to L / 5, wherein L is the distance between the first (Fll) and the second (F12) base surfaces of the first magnetic element ( 11 ) .

9. An endoscope (100) according to any one of the preceding claims, wherein said first (11) and at least a second (110) magnetic elements are permanent magnets, electromagnets or assemblies consisting of magnetic particles embedded in a polymer substrate.

10. An endoscope (100) according to any one of the preceding claims, wherein said tubular cover element (9) comprises a tubular body (91) which is closed, at a first end (92) , by a bottom wall (93) facing the first body end(1' ) , said bottom wall (93) comprising a through hole (94) comprising a first hole portion (94' ) for the insertion of a stem (8' ) of a core element (8) of the body (1) of the endoscope, and a second hole portion ( 94 ’ ’ ) shaped to delimit a compartment for housing said at least a second magnetic element (110) .

11. An endoscope (100) according to the preceding claim, wherein said body (1) further comprises: an electronic printed circuit (10) having a straight portion (10' ) , parallel to said longitudinal axis (X) and having ends connected to a first (10a) and a second (10b) printed circuit portion, discoidal in shape and foldable; said first magnetic element (11) being interposed between said first (10a) and second (10b) folded discoidal circuit portions of the electronic printed circuit (10) to be inserted into said tubular cover element (9) ; a triaxial magnetic field sensor (41) fixed to the first foldable discoidal circuit portion (10a) of the electronic printed circuit (10) so as to face the second hole portion ( 94 ’ ’ ) of the through hole (94) obtained in the bottom wall (93) of the cover element (9) which delimits the housing compartment of the second magnetic element ( 110 ) .

12. An endoscope (100) according to any one of the preceding claims, wherein the first volume (VI) of thefirst magnetic element (11) is ten times greater than the second volume (V2) of the at least a second magnetic element ( 110 ) .

13. An endoscope (100) according to claim 6, wherein said at least a second magnetic element (110) comprises four mutually similar second magnetic elements (110a, 110b,110c, llOd) , separated from the first magnetic element (11) and housed in the tubular cover element (9) of the body (1) of the endoscope (100) , each of said second magnetic elements (110a, 110b, 110c, llOd) having a second cylindrical body (110' ) having a second volume (V2) smaller than the first volume (VI) of the first magnetic element (11) and being delimited by a first base surface (F21) of second body and by an opposite second base surface (F22) of second body connected to each other by a connection surface (SC) , the first (F21) and second (F22) base surfaces of second body being representative of a magnetic south pole (S) and a magnetic north pole (N) of each of the second magnetic elements (110a, 110b, 110c, llOd) , respectively, the first base surface (F21) of second body of two (110a, 110b) of the four second magnetic elements faces, respectively, opposite edge portions of the first base surface (Fll) of the first magnetic element (11) being distal from the longitudinal axis (X) , remaining spacedapart from the first base surface (Fll) , and the second base surface (F22) of second body of the other two (110c, llOd) of the four second magnetic elements faces, respectively, opposite edge portions of the second base surface (F12) of the first magnetic element (11) being distal from the longitudinal axis (X) , remaining spaced apart from the second base surface (F12) , the first (11) and the four second (110a, 110b, 110c, llOd) magnetic elements are configured to generate a first overall magnetic field (Bl) , the vector components (Blx, Bly, Biz) of which have a modulus which takes a minimum value (Blxmin, Blymin, Blzmin) in at least one point of a first (Rl) , a second (R2) , a third (R3) and a fourth (R4) region of the space outside the first (11) and second (110a, 110b, 110c, llOd) magnetic elements, said regions (Rl, R2, R3, R4) being proximal to the second base surface (F22) of second body of the second magnetic elements (110a, 110b, 110c, llOd) .

14. An endoscope (100) according to claim 6, wherein said at least a second magnetic element comprises two mutually similar second magnetic elements (110a, 110b) , separated from the first magnetic element (11) and housed in the tubular cover element (9) of the body (1) of the endoscope (100) , each of said second magnetic elements (110a, 110b) having a second cylindrical body (110' )having a second volume (V2) smaller than the first volume (VI) of the first magnetic element (11) and being delimited by a first base surface (F21) of second body and by an opposite second base surface (F22) of second body connected to each other by a connection surface (SC) , the first (F21) and second (F22) base surfaces of second body being representative of a south magnetic pole (S) and a north magnetic pole (N) of each of the second magnetic elements (110a, 110b) , respectively, wherein the first base surface (F21) of second body of one (110a) of the two second magnetic elements faces the first base surface (Fll) of the first magnetic element (11) , remaining spaced apart from the first base surface (Fll ) , and the respective second base surface (F22) of second body of the other (110b) of the two second magnetic elements faces the second base surface (F12) of the first magnetic element (11) , remaining spaced apart from the second base surface ( F12 ) , the first (11) and the two second (110a, 110b) magnetic elements being mutually coaxial along the longitudinal axis (X) and being configured to generate a second overall magnetic field (B2) , the vector components (B2x, B2y, B2z) of which have a modulus which takes a minimum value (B2xmin, B2ymin, B2zmin) in at least one point of afirst (Rl) , a further first (Rl' ) , a second (R2) and a further second (R2' ) region of the space outside the first (11) and second (110a, 110b) magnetic elements, said regions (Rl, Rl', R2, R2' ) being proximal to the edge portions of the second base surface (F22) of second body of the second magnetic elements (110a, 110b) which are distal from said longitudinal axis (X) .

15. An endoscope (100) according to any one of the preceding claims, wherein said at least a second magnetic element (110) separated from the first magnetic element (11) is housed in the tubular cover element (9) of the body (1) of the endoscope (100) .

16. A magnetically guided endoscope movement and location control system, for carrying out a diagnostic assessment on a patient, comprising: a robotic arm having a base end connected to a robotic arm base and a movable, distal robotic arm end; a permanent magnet or an electromagnet connected to such a distal robotic arm end; an endoscope (100) according to any one of claims 1-15.

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